Kyoung Kwan Ahn

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We investigated the possibility of applying a hybrid feed-forward inverse nonlinear autoregressive with exogenous input (NARX) fuzzy model-PID controller to a nonlinear pneumatic artificial muscle (PAM) robot arm to improve its joint angle position output performance. The proposed hybrid inverse NARX fuzzy-PID controller is implemented to control a PAM(More)
In this paper, a novel MIMO Neural NARX model is used for simultaneously modeling and identifying both joints of the 2-axes PAM robot arm's inverse and forward dynamic model. The highly nonlinear cross effect of both links of the 2-axes PAM robot arm are thoroughly modeled through an Inverse and Forward Neural MIMO NARX Model-based identification process(More)